CN107000753A - Method for providing the barrier map for vehicle - Google Patents
Method for providing the barrier map for vehicle Download PDFInfo
- Publication number
- CN107000753A CN107000753A CN201680004234.0A CN201680004234A CN107000753A CN 107000753 A CN107000753 A CN 107000753A CN 201680004234 A CN201680004234 A CN 201680004234A CN 107000753 A CN107000753 A CN 107000753A
- Authority
- CN
- China
- Prior art keywords
- map
- barrier
- threshold value
- unit
- threshold
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 230000004888 barrier function Effects 0.000 title claims abstract description 90
- 238000000034 method Methods 0.000 title claims abstract description 27
- 230000007613 environmental effect Effects 0.000 claims abstract description 55
- 238000005259 measurement Methods 0.000 claims description 26
- 101150064138 MAP1 gene Proteins 0.000 description 4
- 230000001186 cumulative effect Effects 0.000 description 4
- 230000033001 locomotion Effects 0.000 description 4
- 230000008859 change Effects 0.000 description 3
- 230000002349 favourable effect Effects 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- 230000005764 inhibitory process Effects 0.000 description 2
- NBIIXXVUZAFLBC-UHFFFAOYSA-N Phosphoric acid Chemical compound OP(O)(O)=O NBIIXXVUZAFLBC-UHFFFAOYSA-N 0.000 description 1
- 238000009825 accumulation Methods 0.000 description 1
- 230000008901 benefit Effects 0.000 description 1
- 230000033228 biological regulation Effects 0.000 description 1
- 230000015572 biosynthetic process Effects 0.000 description 1
- 208000010877 cognitive disease Diseases 0.000 description 1
- 238000010276 construction Methods 0.000 description 1
- 230000001419 dependent effect Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 238000004387 environmental modeling Methods 0.000 description 1
- 230000006872 improvement Effects 0.000 description 1
- 238000012886 linear function Methods 0.000 description 1
- 230000007246 mechanism Effects 0.000 description 1
- 238000002604 ultrasonography Methods 0.000 description 1
Classifications
-
- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/16—Anti-collision systems
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
- B60W40/04—Traffic conditions
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01S—RADIO DIRECTION-FINDING; RADIO NAVIGATION; DETERMINING DISTANCE OR VELOCITY BY USE OF RADIO WAVES; LOCATING OR PRESENCE-DETECTING BY USE OF THE REFLECTION OR RERADIATION OF RADIO WAVES; ANALOGOUS ARRANGEMENTS USING OTHER WAVES
- G01S15/00—Systems using the reflection or reradiation of acoustic waves, e.g. sonar systems
- G01S15/88—Sonar systems specially adapted for specific applications
- G01S15/93—Sonar systems specially adapted for specific applications for anti-collision purposes
- G01S15/931—Sonar systems specially adapted for specific applications for anti-collision purposes of land vehicles
-
- G—PHYSICS
- G06—COMPUTING; CALCULATING OR COUNTING
- G06V—IMAGE OR VIDEO RECOGNITION OR UNDERSTANDING
- G06V20/00—Scenes; Scene-specific elements
- G06V20/50—Context or environment of the image
- G06V20/56—Context or environment of the image exterior to a vehicle by using sensors mounted on the vehicle
- G06V20/58—Recognition of moving objects or obstacles, e.g. vehicles or pedestrians; Recognition of traffic objects, e.g. traffic signs, traffic lights or roads
-
- B60W2420/408—
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2420/00—Indexing codes relating to the type of sensors based on the principle of their operation
- B60W2420/54—Audio sensitive means, e.g. ultrasound
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2520/00—Input parameters relating to overall vehicle dynamics
- B60W2520/06—Direction of travel
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W2554/00—Input parameters relating to objects
Abstract
Disclose a kind of method for providing barrier map, wherein, the barrier map has unit, and the unit is respectively configured the section to the environment of vehicle and is allocated as follows information respectively to the section, that is, whether the respective section of environment is occupied by barrier；Wherein, methods described includes：Environmental map is provided, wherein, the environmental map has unit, and the unit is respectively configured the section to the environment of vehicle and assigns barrier probability respectively to the section, and the barrier probability represents the probability that the respective section of environment is occupied by barrier；Prescribed threshold is provided；Wherein, the prescribed threshold provides different threshold values for each unit of environmental map；Wherein, the prescribed threshold is determined according to the track of vehicle；Barrier map is determined based on environmental map and according to prescribed threshold.
Description
Technical field
The present invention relates to a kind of method and a kind of electronic controller of relative set for being used to provide barrier map.
Background technology
Driving, parking auxiliary are especially automated for many following driving functions and driver assistance system of vehicle
For system etc., the detection to vehicle environmental is indispensable.Especially must generally determine, which section of environment not by
Barrier obstruction and therefore it can cross without restriction.Environment measuring is joined with different sensing systems such as camera herein
Conjunction, radar, laser radar and sonac are implemented.In order to based on camera or be generally basede on driving for sensor for different
The person's of sailing accessory system (such as parking assistance system) is to the environmental modeling of vehicle, typically using frequent also referred to as occupancy grid
The environmental map of (Occupancy Grid) is used as model.
Environmental map has an environmental data, the environmental data produced by the processing to the sensor measurement of environment and
Represent the sensor measurement.Environmental data is generally arranged according to the section of environment herein.Each such environment of section configuration
Data, it is produced by the measurement in the section.Environmental data can include different information types for each unit, for example
Occupation probability (that is, unit occupied by barrier probability), height of barrier of corresponding units etc..
Some driver assistance functions do not need abstract occupation probability as information for the modeling of environment, but need
Following information, i.e. whether the section of environment is occupied by barrier.Barrier in section represents herein, the area of environment
Section cannot or can only be crossed by vehicle under certain condition.
For providing obstacle information, barrier map is typically produced, the barrier map has unit, the list
Member is respectively configured the section to the environment of vehicle and is allocated as follows information respectively to the section, i.e. the respective section of environment
Whether occupied by barrier.The unit and the section that is configured that typically the unit of barrier map corresponds to environmental map be
Identical.Whether the information occupied by barrier is by by the occupation probability and threshold that are allocated to the section of environmental map for section
Value compares and determined.The obstacle height determined for the section can be considered in addition in some expression.
The known sensor system in vehicular field, it is by being referred to as " recovering structure (Structure from motion
Motion) " method of (SFM) can be with cognitive disorders thing from the successive camera photograph in different positions by vehicle.Certain institute
State identification often wrong.Therefore, in order to produce convictive occupation probability in environmental map, often by section
(verrechnen) is calculated by the occupation probability in preceding identification of the SFM occupation probabilities recognized and same sector.That is, occur
The occupation probability of the identification of the unit of environmental map it is cumulative.
Simultaneously in SFM methods, the correct identification of the occupation probability occupied in section by barrier is according to relative to car
Distance and the angle relative to vehicle longitudinal axis.Barrier for example before vehicle often not as lateral in vehicle
Barrier is correctly validated.During the occupation probability determined successively on accumulation interval, the barrier in environmental map
By representated by different occupation probabilities.
So problem is produced when producing barrier map by threshold value formation based on environmental map, i.e. the knowledge based on SFM
Other characteristic is only not enough to be not recorded in barrier map by the barrier representated by occupation probability.
The content of the invention
The task of the present invention is solved the problem of preceding generation.
The task according to the method described in independent claims, control unit and vehicle by solving.Favourable is further
Expansion scheme is defined in the dependent claims.
An aspect of of the present present invention is related to the method for providing barrier map, wherein, the barrier map has single
Member, the unit is respectively configured the section to the environment of vehicle and is allocated as follows information respectively to the section, i.e. environment
Whether respective section is occupied by barrier；Wherein, methods described includes：Environmental map is provided, wherein, the environmental map has
Unit, the unit is respectively configured the section to the environment of vehicle and assigns barrier probability respectively to the section, described
Barrier probability represents the probability that the respective section of environment is occupied by barrier；Prescribed threshold is provided；Wherein, the prescribed threshold
Different threshold values are provided for each unit of environmental map；Wherein, the prescribed threshold is according to the track of vehicle, especially former
The part of track is determined；Barrier map is determined based on environmental map and according to prescribed threshold.Prescribed threshold can include pair
(formula) is described in the clearly stating of threshold value (also referred to as threshold value map) of each unit of environmental map or in the form of closing,
The threshold value of the unit for environmental map is can determine by the form.Sometimes threshold value map is also referred to as prospecting network.It is multiple
The measurement value sensor of sensing system can enter in the offer of environmental map, such as by camera arrangement and ultrasonic system
Measurement.Meanwhile, the prescribed threshold can contemplate the sensing system of vehicle evident characteristics (especially direction to apart from related
Property), the occupation probability of environment section is determined using the sensing system.
That is, propose in this respect, without using such as constant threshold value in the prior art, but use it is related to section (or with
Unit is related) threshold value of change.The change of the threshold value can be selected so so that consider the sensing mechanism of vehicle for obstacle
The different evident characteristics of thing.High threshold value is selected for such as lower curtate, and the evident characteristics of sensor are for the section with high
Occupation probability represents barrier.And low threshold value is selected for such as lower curtate, barrier is accounted in the section by less
Represented according to probability.Equally, the threshold value predetermined by threshold value pattern for the section can be forced in driving functions, the row
Function is sailed based on barrier map to implement.
A part for the consideration is the track of vehicle.The track is determined, is worked for which section sensor characteristics,
That is, barrier is represented with high occupation probability in which section of environment, and with low occupation probability in which section
Represent barrier.Typically prescribed threshold is than for former driving trace along environment section of the travel direction before vehicle
Be laterally guided by section take smaller threshold value.
By this way, along travel direction before vehicle further from barrier build barrier map when also by just
Really identification.Same identification simultaneously based on sensor characteristics with higher degree identification (and have in environmental map it is corresponding more
High occupation probability) barrier.The noise often occurred in following region is equally effectively when building barrier map
It is suppressed, in this region, based on sensor characteristics, barrier is represented by high occupation probability.
In a kind of favourable implementation, in order to determine that the prescribed threshold repeatedly considers threshold value pattern；Wherein, it is described
Threshold value pattern provides different threshold deltas for the different units in one group of unit.Described group of unit can be in quantitative aspects
Less than the quantity of the unit of environmental map.The threshold value pattern can be threshold value pattern map, the threshold value pattern map for
Unit predetermined threshold increment.Advantageously, the threshold value that pattern is provided follows Gaussian function or linear function.Threshold value pattern is herein
(wherein single measurement is understood herein as data base to the characteristic of the obstacle recognition of sensing system when being given at single measurement
Plinth, in the data basis renewal of implementation environment map and multiple bigness scale amounts can be combined completely).Threshold value pattern also may be used
To consider the characteristic of different sensing systems, such as SFM camera arrangements and ultrasound.It is possible thereby to produce the threshold figure of complexity
Case.
Threshold value pattern is reused or considered with not changing typically.Starting point can be predetermined initial threshold rule herein
It is fixed.Repeatedly increase threshold value pattern to initial threshold regulation, and more precisely according to the track of vehicle.Environmental map
The threshold value of unit can be defined in maximum, such as 0.9 herein.
The further improvement project of the increment of prescribed threshold under cover following advantage, i.e. for one after the other determining to hinder every time
Thing map is hindered to build on former prescribed threshold.Only increase according to current vehicle position to the prescribed threshold finally determined
The threshold value pattern put.New vehicle location can also be by environmental map movement or its content reflect.
As long as the renewal (being measured based on new sensor) of environmental map is at regular time or stroke section occurs, then may be used
To implement cumulative (or offer of the threshold value pattern updated) with identical time section, as long as or adding depending on traveling distance
By implementing described cumulative after the predetermined distance of driving trace.
The one or more considerations or cumulative (increasing of threshold value pattern can be carried out between the determination of two barrier maps
Plus), to determine the then prescribed threshold to be used.Quantity (that is, the ring of this addition that can be measured according to new sensor
The occupation probability of its new identification of the section in border).Same threshold value pattern, the height of especially threshold delta can depend on environment
The quantity for the renewal that map is measured by the corresponding new sensor of environment.
Can be according to position and/or the orientation consideration threshold figure of the vehicle in environmental map when threshold value is provided
Case.This meanS that, when threshold value pattern is applied on initial threshold map, to increase in the unit of threshold value map
Threshold delta (based on the prespecified of threshold value pattern) determined by vehicle location.In other words：Threshold value pattern has base
On schedule, the symmetric points (and reference direction if necessary) of such as pattern, it takes on vehicle location (and vehicle directional if necessary)
To.
In a kind of favourable implementation, the unit of the environmental map is each configured with the unit with barrier map
Identical environment section；Wherein, the information for the unit of barrier map passes through occupying the corresponding units of environmental map
Probability is obtained compared with the threshold value that the corresponding units for environmental map are provided according to prescribed threshold.Barrier map and ring
Therefore condition figure then corresponds to each other from unit construction.
Another aspect of the present invention is related to a kind of electronic controller for vehicle, wherein, controller is provided for implementing
One of approach described above.The controller can be microcontroller, CPU, ASIC or RISC.Another aspect of the present invention is related to
A kind of vehicle, especially car, it includes controller.
Brief description of the drawings
Measurement chart 1 is shown according to a kind of environmental map of embodiment.
Measurement chart 2 shows the barrier map produced according to prior art.
Measurement chart 3 shows a kind of barrier map of embodiment according to the present invention.
Chart 4 is exemplarily illustrated the threshold value map according to the present invention, is used such as it in order to determine measurement chart 3.
Fig. 1 is shown according to a kind of flow chart of the method for embodiment.
Embodiment
Identical reference is across being diagrammatically related to corresponding element.
Measurement chart 1 shows the environmental map 1 according to a kind of embodiment.Environmental map has 256x256 unit, configuration
Occupation probability to these units is shown by GTG.White represents that the respective section of environment is detected as not being occupied, Yi Jizhan
It is 0% according to determine the probability.Grey is represented, not on the report occupied, that is, there is 50% occupation probability.Black represents,
In the presence of occupying, therefore assign for the unit 100% occupation probability.It can be seen, most such as in the example of measurement chart 1
Unit is assigned with unknown occupation probability.
The measurement of vehicle 2 is implemented by the camera and SFM methods of vehicle.For environment section determine herein account for
According to probability and elevation information, only show to occupy information in measurement chart 1.In vehicle 2, back axle is signified by crossbeam.Forward
The former track of the vehicle 2 of traveling can be seen that by white track 3.In measurement chart 1, show after track 3 is crossed
To the result for occupying identification of environment.
Barrier is respectively in the region A and B before vehicle.Based on the evident characteristics of the SFM methods used, it is certainly
These barriers assign small occupation probability.Distance based on relative to vehicle and the arrangement knot along travel direction before vehicle
Structure, seldom barrier is measured in SFM methods.
The same noise in region E is marked in measuring chart 1.
It is that each unit mistakenly assigns occupation probability more than 50%, although no barrier is deposited there in the C of region
.This is caused by the measurement error of the system repeated.
Barrier is in the D of region, and the barrier is often identified as so in the measurements.Therefore the barrier also with
Representated by high occupation probability in environmental map.
Measurement chart 2 shows that the barrier map is according to prior art according to a kind of barrier of embodiment ground Fig. 4
Threshold value is used to be determined based on the environmental map according to measurement chart 1.These barriers Fig. 4 elevation information, the height are shown
Information configuration is identified as the unit that is occupied by barrier to each.Black signifies not identifying the unit of barrier.Grey is simultaneously
And the height of white symbol barrier and barrier.In order to which whether determining means is occupied by barrier, the occupation probability of unit (
Measurement chart 1 in show) compared respectively with identical threshold value, such as 0.6.As can be seen, compared more specifically by this
It is the error of the effectively noise in the E of inhibition zone and the system in the C of region.Certainly barrier in region A and B also not by
Correctly identify or represent.
Although cause to represent the barrier in region A and B, but also mistake using the threshold value lower than in measurement chart 2
Ground is shown in the barrier in region C and E.That is, using such as by constant threshold value known in the art, in the biography by SFM
Do not there is provided in this example of sensor measurement and suppress to make one satisfied identification to barrier in the case of noise at the same time.
Measure with showing the barrier according to a kind of embodiment of the invention Fig. 5 of chart 3.The barrier map is by making
With the threshold value according to chart 4 Fig. 6 produce.Ground Fig. 6 threshold value has and the unit of environmental map 1 as many.Environmental map
Each unit by threshold value Fig. 6 be configured with a threshold value.In chart 4, highest threshold value (region 7), such as 0.95 pass through
White shows, minimum threshold value (region 9), such as 0.3, is shown by black.The value of grey (region 8) symbol therebetween.Such as
It can be seen, former track of the distribution of threshold value depending on vehicle.The sensor characteristics in SFM methods is considered simultaneously, i.e.,
Become difficult detection in the larger distance of vehicle front and in barrier above.
Such as in order to produce measurement chart 2, the occupation probability of the unit of environmental map 1 is compared with threshold value.Certainly according to this hair
It is bright, for the threshold value disunity or constant of the unit of environmental map 1, but respectively according to unit as illustrated
Position (such as row and column) and it is different.Result is the barrier represented in region A and B, and the noise in inhibition zone E and C
And wrong identification.In addition the barrier in the D of region is correctly recognized.Therefore barrier Fig. 5 generally than according to prior art
The methods and resultses shown in barrier in Fig. 4 preferably provide environment in barrier.
Threshold value Fig. 6 and barrier map produced by the method repeated, it is illustrated in Fig. 1.There is provided in step sl
Initial threshold map.The initial threshold map can set identical threshold value, such as 0.3 for all units.The threshold value map
It is adapted in step s 2 according to the position (and orientation) of the change of vehicle.Typically this includes the movement and rotation of threshold value map,
As long as threshold value map should always be set symmetrically and with the orientation constant relative to vehicle.
Threshold value pattern is applied to the threshold value of the unit of threshold value map in step s3.The threshold value pattern equally may be used
To treat as threshold value map, the unit of the threshold value map is assigned with threshold delta.The threshold value of each corresponding unit
Increment is added with threshold value, for use in the threshold value map for reaching renewal.
Threshold delta is typically less than the threshold value of initial threshold map, such as 0.03；0.05 or 0.07.As long as addition exceedes
Max-thresholds, such as 0.95, then set the threshold value of the unit of consideration and arrive max-thresholds.The threshold in unit in threshold value pattern
The distribution of the height of value increment can follow conical function or Gaussian curve.
Directly understandably, by the way that threshold value pattern is repeatedly applied on the corresponding threshold value map occurred before, threshold value
The threshold value of map reflects the former track of vehicle.
Current environmental map is provided in step s 4.As previously described, current environmental map is surveyed based on sensor
The registration (occupation probability) of the repetition of value.At this for identical before the occupation probability determined during sensor is measured increases to
Section identification occupation probability on.The structure built therefore such as environmental map of threshold value map is iteration.In methods described
In it can be stated that measurement value sensor is repeatedly added in environmental map, be then based on this and build new barrier map.Threshold value
The threshold delta of pattern is correspondingly adapted to (that is, higher).
Barrier map is determined in last step S5.For this only for the unit for being identified as being occupied by elevation information
It recorded in barrier map.Such unit is identified as being occupied, altogether occupation probability be in threshold value on, the threshold value for
Corresponding units are predetermined by threshold value map.
Step S2 to S5 repetitions based on the threshold value map newly built.
Claims (9)
1. for the method that provides barrier map, wherein, the barrier map has a unit, the unit be respectively configured to
The section of the environment of vehicle and information is allocated as follows respectively to the section, i.e. whether the respective section of environment is by barrier
Occupy；Wherein methods described includes：
Environmental map is provided, wherein the environmental map has unit, the section to the environment of vehicle is respectively configured in the unit
And assign barrier probability respectively to the section, the respective section that the barrier probability represents environment is occupied by barrier
Probability；
Prescribed threshold is provided；
Wherein, the prescribed threshold provides different threshold values for each unit of environmental map；
Wherein, the prescribed threshold is determined according to the track of vehicle；
Barrier map is determined based on environmental map and according to prescribed threshold.
2. in accordance with the method for claim 1, wherein, in order to determine that the prescribed threshold repeatedly considers threshold value pattern；Its
In, the threshold value pattern provides different threshold deltas for the different units in one group of unit.
3. in accordance with the method for claim 2, wherein, the prescribed threshold has a threshold value map, and the threshold value map is ring
The each unit of condition figure provides a threshold delta respectively.
4. according to the method described in one of Claims 2 or 3, wherein, when considering the threshold value pattern, the threshold value pattern
Threshold delta increases on the prescribed threshold of preceding determination, the especially threshold value of threshold value map.
5. according to the method described in one of claim 2 to 4, wherein, when threshold value is provided, according to vehicle in environmental map
In position and/or orientation consider the threshold value pattern.
6. according to the method described in one of the claims, wherein, the prescribed threshold in addition with time correlation and/or with it is right
The sensor measurement of environment is added to relevant in environmental map.
7. according to the method described in one of the claims, wherein, the unit of environmental map is with being each configured with barrier
The unit identical environment section of figure；Wherein, for barrier map unit information by by the corresponding list of environmental map
The occupation probability of member is obtained compared with the threshold value that the corresponding units for environmental map are provided according to prescribed threshold.
8. for the electronic controller of vehicle, wherein the controller is provided for implementing according to described in one of the claims
Method.
9. vehicle, with according to the controller described in claim 8.
Applications Claiming Priority (3)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| DE102015205244.3A DE102015205244B3 (en) | 2015-03-24 | 2015-03-24 | Method for providing obstacle cards for vehicles |
| DE102015205244.3 | 2015-03-24 | ||
| PCT/EP2016/055212 WO2016150728A1 (en) | 2015-03-24 | 2016-03-11 | Method for providing obstacle maps for vehicles |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN107000753A true CN107000753A (en) | 2017-08-01 |
| CN107000753B CN107000753B (en) | 2019-08-20 |
Family
ID=54549099
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN201680004234.0A Active CN107000753B (en) | 2015-03-24 | 2016-03-11 | For providing the method for being used for the barrier map of vehicle |
Country Status (5)
| Country | Link |
|---|---|
| US (1) | US10460603B2 (en) |
| EP (1) | EP3204792B1 (en) |
| CN (1) | CN107000753B (en) |
| DE (1) | DE102015205244B3 (en) |
| WO (1) | WO2016150728A1 (en) |
Cited By (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN109849936A (en) * | 2019-03-07 | 2019-06-07 | 无锡众创未来科技应用有限公司 | A kind of generation method of vehicle-surroundings partial barriers map |
| CN110045376A (en) * | 2019-04-28 | 2019-07-23 | 森思泰克河北科技有限公司 | It can travel area obtaining method, computer readable storage medium and terminal device |
| CN110068348A (en) * | 2018-01-22 | 2019-07-30 | 大陆汽车有限责任公司 | Method and apparatus for the detection boundary in the ambient enviroment of object |
| CN111942374A (en) * | 2020-08-14 | 2020-11-17 | 中国第一汽车股份有限公司 | Obstacle map generation method and device, vehicle and storage medium |
| CN112644480A (en) * | 2021-01-18 | 2021-04-13 | 广州小鹏自动驾驶科技有限公司 | Obstacle detection method, obstacle detection system, computer device and storage medium |
Families Citing this family (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10635913B2 (en) * | 2016-10-17 | 2020-04-28 | Mediatek Inc. | Path planning method and related navigation device |
| DE102016123391A1 (en) * | 2016-12-02 | 2018-06-07 | Continental Engineering Services Gmbh | Method for supporting a parking operation and parking assistance device |
| US10195992B2 (en) | 2017-04-03 | 2019-02-05 | Ford Global Technologies, Llc | Obstacle detection systems and methods |
| KR20200099264A (en) * | 2019-02-14 | 2020-08-24 | 한화디펜스 주식회사 | Obstacle map generating method, and apparatus thereof |
| DE102020215255A1 (en) * | 2020-12-03 | 2022-06-09 | Continental Automotive Gmbh | Method for height classification of objects using ultrasonic sensors |
| US11462021B2 (en) * | 2021-01-13 | 2022-10-04 | GM Global Technology Operations LLC | Obstacle detection and notification for motorcycles |
| CN114253273B (en) * | 2021-12-23 | 2024-04-12 | 南京世泽科技有限公司 | Obstacle avoidance method based on multi-line laser radar |
Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101687509A (en) * | 2007-03-08 | 2010-03-31 | 丰田自动车株式会社 | Vicinity environment estimation device with blind region prediction, road detection and intervehicle communication |
| CN103038605A (en) * | 2010-06-15 | 2013-04-10 | 通腾比利时公司 | Detecting location, timetable and travel time estimations for barrier crossings in a digital map |
| WO2013060323A1 (en) * | 2011-10-28 | 2013-05-02 | Conti Temic Microelectronic Gmbh | Grid-based environmental model for a vehicle |
| CN103380351A (en) * | 2010-10-22 | 2013-10-30 | 丰田自动车工程及制造北美公司 | Method and system for parking a vehicle near obstacles |
| DE102013207905A1 (en) * | 2013-04-30 | 2014-10-30 | Bayerische Motoren Werke Aktiengesellschaft | A method for efficiently providing occupancy information about portions of the environment of a vehicle |
Family Cites Families (12)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE10230483A1 (en) * | 2002-07-06 | 2004-01-15 | Robert Bosch Gmbh | Procedure for controlling a two-stage belt tensioner |
| DE10244148A1 (en) * | 2002-09-23 | 2004-04-08 | Daimlerchrysler Ag | Method and device for video-based observation and measurement of the lateral surroundings of a vehicle |
| JP4623057B2 (en) * | 2007-06-05 | 2011-02-02 | トヨタ自動車株式会社 | Moving area acquisition device for own vehicle |
| US8244458B1 (en) * | 2008-06-23 | 2012-08-14 | The United States Of America As Represented By The Secretary Of The Navy | Host-centric method for automobile collision avoidance decisions |
| JP5206752B2 (en) * | 2010-08-30 | 2013-06-12 | 株式会社デンソー | Driving environment recognition device |
| DE102011113016A1 (en) * | 2011-09-09 | 2012-03-29 | Daimler Ag | Method for representing environment of vehicle, involves increasing detail information level of hierarchical data structure corresponding to object with high uncertainty than that of other objects identified in environment of vehicle |
| DE102011116613A1 (en) * | 2011-10-20 | 2013-04-25 | Atlas Elektronik Gmbh | Unmanned underwater vehicle and method for locating and examining an object located at the bottom of a body of water and system with the unmanned underwater vehicle |
| JP6015227B2 (en) * | 2012-08-10 | 2016-10-26 | アイシン・エィ・ダブリュ株式会社 | Intersection guidance system, method and program |
| JP2015155878A (en) * | 2014-02-21 | 2015-08-27 | 株式会社デンソー | Obstacle detection device for vehicle |
| US9766336B2 (en) * | 2015-03-16 | 2017-09-19 | Here Global B.V. | Vehicle obstruction detection |
| US9505413B2 (en) * | 2015-03-20 | 2016-11-29 | Harman International Industries, Incorporated | Systems and methods for prioritized driver alerts |
| US9868443B2 (en) * | 2015-04-27 | 2018-01-16 | GM Global Technology Operations LLC | Reactive path planning for autonomous driving |
-
2015
- 2015-03-24 DE DE102015205244.3A patent/DE102015205244B3/en active Active
-
2016
- 2016-03-11 WO PCT/EP2016/055212 patent/WO2016150728A1/en active Application Filing
- 2016-03-11 EP EP16711551.8A patent/EP3204792B1/en active Active
- 2016-03-11 CN CN201680004234.0A patent/CN107000753B/en active Active
-
2017
- 2017-09-22 US US15/713,115 patent/US10460603B2/en active Active
Patent Citations (5)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN101687509A (en) * | 2007-03-08 | 2010-03-31 | 丰田自动车株式会社 | Vicinity environment estimation device with blind region prediction, road detection and intervehicle communication |
| CN103038605A (en) * | 2010-06-15 | 2013-04-10 | 通腾比利时公司 | Detecting location, timetable and travel time estimations for barrier crossings in a digital map |
| CN103380351A (en) * | 2010-10-22 | 2013-10-30 | 丰田自动车工程及制造北美公司 | Method and system for parking a vehicle near obstacles |
| WO2013060323A1 (en) * | 2011-10-28 | 2013-05-02 | Conti Temic Microelectronic Gmbh | Grid-based environmental model for a vehicle |
| DE102013207905A1 (en) * | 2013-04-30 | 2014-10-30 | Bayerische Motoren Werke Aktiengesellschaft | A method for efficiently providing occupancy information about portions of the environment of a vehicle |
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN110068348A (en) * | 2018-01-22 | 2019-07-30 | 大陆汽车有限责任公司 | Method and apparatus for the detection boundary in the ambient enviroment of object |
| CN110068348B (en) * | 2018-01-22 | 2024-03-29 | 大陆智行德国有限公司 | Method and device for detecting a limit in the surroundings of an object |
| CN109849936A (en) * | 2019-03-07 | 2019-06-07 | 无锡众创未来科技应用有限公司 | A kind of generation method of vehicle-surroundings partial barriers map |
| CN110045376A (en) * | 2019-04-28 | 2019-07-23 | 森思泰克河北科技有限公司 | It can travel area obtaining method, computer readable storage medium and terminal device |
| CN111942374A (en) * | 2020-08-14 | 2020-11-17 | 中国第一汽车股份有限公司 | Obstacle map generation method and device, vehicle and storage medium |
| CN112644480A (en) * | 2021-01-18 | 2021-04-13 | 广州小鹏自动驾驶科技有限公司 | Obstacle detection method, obstacle detection system, computer device and storage medium |
Also Published As
| Publication number | Publication date |
|---|---|
| EP3204792A1 (en) | 2017-08-16 |
| WO2016150728A1 (en) | 2016-09-29 |
| EP3204792B1 (en) | 2020-12-30 |
| CN107000753B (en) | 2019-08-20 |
| US10460603B2 (en) | 2019-10-29 |
| US20180012494A1 (en) | 2018-01-11 |
| DE102015205244B3 (en) | 2015-12-10 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN107000753B (en) | For providing the method for being used for the barrier map of vehicle | |
| US7961084B2 (en) | Host vehicle moving area acquisition device and acquisition method | |
| CN109782763B (en) | Mobile robot path planning method in dynamic environment | |
| CN107000745B (en) | The travel controlling system and travel control method of vehicle | |
| CN104554258B (en) | Using the path planning of the avoidance steering operation of virtual potential field technology | |
| CN104554272B (en) | The path planning of avoidance steering operation when target vehicle and surrounding objects be present | |
| CN107843267B (en) | Path generation method and device for unmanned vehicle in construction road section | |
| US9127956B2 (en) | Technique for lane assignment in a vehicle | |
| CN107000749B (en) | The travel controlling system and travel control method of vehicle | |
| CN103026396B (en) | Drive assistance device | |
| CN104919471B (en) | The building of barrier map | |
| CN102997900B (en) | Vehicle systems, devices, and methods for recognizing external worlds | |
| US10901421B2 (en) | Method and device for detecting road boundary | |
| US8233663B2 (en) | Method for object formation | |
| KR102456626B1 (en) | Apparatus and method for traffic lane recognition in automatic steering control of vehilcles | |
| JP2013530435A (en) | How to find roadway transitions for automobiles | |
| US8401784B2 (en) | Course evaluation apparatus and course evaluation method | |
| CN105912998A (en) | Vehicle collision prevention early warning method based on vision | |
| CN113635894A (en) | Method for determining a drivable region | |
| DE102019214612A1 (en) | Method and control device for recognizing an object in the surroundings of a vehicle | |
| CN113928324A (en) | Method and system for predicting the trajectory of a target vehicle in the environment of a vehicle | |
| JP7037672B2 (en) | How to recognize static radar targets with automotive radar sensors | |
| KR20180056322A (en) | Method for producing virtual lane based on short-range radar sensor | |
| JP5609778B2 (en) | Other vehicle recognition device and course evaluation device | |
| JP4924207B2 (en) | Own vehicle risk acquisition device |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| PB01 | Publication | ||
| PB01 | Publication | ||
| SE01 | Entry into force of request for substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| GR01 | Patent grant | ||
| GR01 | Patent grant |